Motorized robotic walker guided by an image processing system for human walking assistance

Abstract

A motorized robotic walker is capable of moving automatically with the user through an algorithmic process using a 3D camera image processing system. The image processing system can measure relative motion of the user versus the robotic walker and a microprocessor can generate PWM signal to drive motors of the robotic walker so that the robotic walker can follow the user's motion automatically and provide assistance if needed.

What is claimed is: 
     
       1. A motorized robotic walker for providing non-contact measurement of a user to maintain a constant position relative to the user, comprising:
 a frame; 
 at least two wheels disposed at a lower portion of the frame, each of the two wheels operatively connected to a motor; 
 a sensor mounted on a portion of the frame, the sensor capable of capturing orientation and position information about the user; 
 a processor for generating the wheel rotation angles in real time; and 
 motor drivers for controlling a speed of the motor and direction of the at least two wheels to maintain relative position of the frame and the user based on the relative position data. 
 
     
     
       2. The motorized robotic walker of  claim 1 , wherein the sensor is capable of generating both color image and depth information. 
     
     
       3. The motorized robotic walker of  claim 2 , wherein the depth information is depth frame data. 
     
     
       4. The motorized robotic walker of  claim 3 , wherein the depth frame data is 3D point cloud P of a portion of the user's body. 
     
     
       5. The motorized robotic walker of  claim 4 , wherein the portion of the user's body is the user's upper body. 
     
     
       6. The motorized robotic walker of  claim 1 , wherein the processor generates PWM signals for driving the motors. 
     
     
       7. The motorized robotic walker of  claim 6 , further comprising an additional sensor on each of the at least two wheels to provide feedback to the processor of wheel position. 
     
     
       8. The motorized robotic walker of  claim 1 , wherein the orientation and positioning information is three dimensional. 
     
     
       9. The motorized robotic walker of  claim 1 , wherein the sensor is a camera. 
     
     
       10. A method of operating a robotic motorized walker having a frame, at least two wheels disposed at a lower portion of the frame, each of the two wheels operatively connected to a motor, a sensor mounted on a portion of the frame, the sensor capable of capturing orientation and position information about the user, a processor for generating wheel rotation information and driving the motors to maintain a substantially constant relative distance from a user, the method comprising:
 detecting the user's relative position and orientation to the walker using the sensor, 
 conducting an inverse kinematic calculation using the user's relative position and orientation to determine equivalent wheel rotation angles for moving the at least two wheels; and 
 generating motor-control PWM signals for each of the motors to move the wheels according to the inverse kinematic calculation to maintain a substantially constant relative distance from a user. 
 
     
     
       11. The method of  claim 10 , wherein the sensor is capable of generating both a color image and depth information. 
     
     
       12. The method of  claim 11 , wherein the depth information is depth frame data. 
     
     
       13. The method of  claim 12 , wherein the depth frame data is 3D point cloud P of a portion of the user's body. 
     
     
       14. The method of  claim 13 , wherein the portion of the user's body is the user's upper body. 
     
     
       15. The method of  claim 10 , wherein the processor generates PWM signals for the motor. 
     
     
       16. The method of  claim 10 , the robotic motorized walker further comprising an encoder sensor on each of the at least two wheels to provide feedback to control the rotation of the wheels. 
     
     
       17. The method of  claim 10 , wherein the orientation and positioning information is three dimensional. 
     
     
       18. The method of  claim 10 , wherein the sensor is a camera.